Formation Tracking Surrounding and Unknown Velocity Estimation Method Based on Following Hierarchy

Abstract

The invention discloses a formation tracking encirclement and unknown velocity estimation method based on following layered structure, comprising the following steps: a) Dividing moving bodies into m-layer following groups according to initial perception, and determining the neighbors and peers of each moving body in the upper and lower layers The front and rear neighbors of the layer; b) measure the pointing vector of the self-moving body and the pointing vectors of its neighbors, and calculate the angle error between the angle between the pointing vector of the moving body and the pointing vector of its neighbors and the expected value; c) get the angle error between the moving body and the upper The distance between the neighbors on the first layer, and calculate the distance error between the distance value and the expected value; d) According to the error value, design the velocity estimation law of the neighbors on the upper layer, and then design the velocity of the moving body projected onto its pointing vector and vertical pointing vector Control law; e) Solve the speed control input of the moving body in series to complete the motion control of the moving body. This method effectively solves the situation that the moving body has a limited perception radius and an unmeasurable speed. It is simple and reliable, and can be used for unmanned bee colonies detection and combat areas.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional formation encirclement tracking control, and in particular relates to a formation tracking encirclement and unknown velocity estimation method based on following layered structure. Background technique [0002] At present, more and more scientific researchers are beginning to use the multi-movement distributed formation tracking and enveloping technology to complete complex tasks in complex scenes, such as drone swarms, robot swarms, etc. The country and scientific research institutions have successively carried out the Argo program and the multi-underwater robot collaborative marine monitoring project. The article "Bee Swarm: Preparing for Future Air Combat" published on the cover of the US "Air Force" magazine in April 2019 also emphasized the importance of formation tracking and encirclement control technology. It can be seen that the development of this technology is undoubtedly of g...

AI Technical Summary

Problems solved by technology

At the same time, it is difficult for image sensors and ranging sensors to directly measure the velocity information of targets and neighbors, which makes the existing methods subject to many limitations in practical applications.

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